Lunar SAR v1.3.2 - Fix minor errors

Fixed minor errors in rarely used functions

Known issue: rover will Complete MoveToCoord commands when it runs out of battery, instead of auto-shutting-down and failing all its commands when about to run out of battery.

Lunar SAR v1.3.1 - SelectCrashScenario

SelectCrashScenario.bat is the script that can change out which crash site and obstacle distribution is in use. Double click then follow instructions in the terminal. The default option for Final Task is option 2, but we recommend using options 2 through 6 to test your code and make sure it's adaptive. Note: 5 additional scenarios (not provided but generated using the same method) are used for the scoring sim runs.

Lunar SAR v1.3.0 - Final Task

• All 7 rovers are fully operational and can be used.
• Power and Batteries
  • If a rover runs out of power (battery state of charge = 0), it will stop moving.
  • When a rover is within 10 meters of the charging station, it will automatically connect and start charging.
  • We’ve added the “Battery Meter” gadget to the sim UI.
    • Select an entity to view its battery’s state of charge.
    • Will read zero for entities that don’t have a battery.
    • Select by clicking for any entity besides LTVs. LTVs will need to be selected through the Outliner gadget for now.
• Obstacles now block your motion. We’ve included some sample code for navigating away from an object you ran into.
  • Use "ObstaclesStopMovement": false on SimEntity in the sim config to disable stopping on obstacles for testing purposes.
• GetLidarObstacles was previously bugged; STPRO 0.27.6 fixed a bug where all previous obstacle detections would accumulate instead of clearing every update.
• Added several commands:
  • Stop
    • Fails any MoveToCoord commands and stops the rover
  • PickUpAntenna
    • Picks up the closest antenna if close enough. LTV1 only, as it has EVA crewmembers on it.
  • PlaceDownAntenna
    • Places down the carried antenna. LTV1 only, as it has EVA crewmembers on it.
• Added CreateTimerTask(), which is a utility that creates a TaskGraph task which waits for a provided number of seconds in sim time before marking itself completed. Changes throughout mission manager and task graph to support this functionality.
• Revised speed vs slope curves which in general raise speeds on slight slopes
• Communication line of sight is now a factor.
  • Antennas are 4m high, and rover antennas are 2.5m high except for 2m for the scout rovers.
  • You will need to move the antennas in order reach most of the search area. Either find good antenna spots visually and note their lat/long or do so through software in the sim or from the elevation data.
• Sim end criteria is LTV1 arrives next to crash site (within 20m) with >50% battery state of charge, which is enough to do the rescue.
• Scripts to easily change out the crash site location to each of the 5 test case locations (and to change the seed for the obstacle dispersion) are coming soon to STU_Lunar_SAR repo.

Lunar SAR v1.2.2 - Fix RotateToAzimuth completion

Fixed #1 - RotateToAzimuth will now complete properly and report the correct received value in the entity behavior log.

Lunar SAR v1.2.1 - No-reaction warning fix, etc

These SetupAllCommands() lines in the Mission Manager are now critical to have proper warnings for no-reaction-registered:

EDIT: They are also necessary for any OnCommandComplete/OnCommandFail reactions to be called by a command completing/failing.

7ebaf9d#diff-fa233b1d525df646ae75c88eeaee36266fe4a2b34ac987bdc0e9e7482ca1018bR35-R39

• Improved example's OnScreenLogMessage use in many ways as well.
• Some Final Task functions added but not necessary for Task 2.
• Task 1 is no longer supported; please use Task 2 and eventually the Final Task for continued work.

KNOWN ISSUE: RotateToAzimuth commands are not completing properly. Fixed and uploading changes soon.

Lunar SAR v1.2.0 - Task 2 Update

Updated code for Task 2.

Enables Cameras and adds more entities. Cameras also contribute to target search scan volume, but in a directional manner. Pan cameras to direct this scan volume. Taking images is not necessary to detect crash site but can be useful.

Recommended to only use 2 LTVs and 2 Scout rovers, still; other rovers have not yet been completely set up.

Lunar SAR v1.1.0 - Task 2

Initial starter code for Task 2. Most of the files in this repo have changed (including the Task 1 sim), so I recommend doing one of the following:

1. Save your MissionManager (and EntityBehavior if applicable) code to new files to preserve them, then overwrite your repo's files with the all of the updated files from here, then manually copy paste your changes back in.
2. Create a fresh repository copy from this template and copy over your changes.
3. Some other method?

The important part is that the code and sim config files that are not in the top directory (besides CompetitionBackend.py) 100% match this repository.

Cameras disabled due to crashing issue unique to this sim; will likely fix soon.

Lunar SAR v1.0.1 - Crash fix

Removed a reference to an entity class that wasn't included in the user release.

Lunar SAR v1.0.0 - Initial Task 1 Starter Code

Initial release, which is enough to start on Task 1.